%?BODYDEMO?Illustrates?how?to?use?the?Kin2?object?to?get?and?draw?the
%?Skeleton?data
%
%?Juan?R.?Terven?jrterven@hotmail.com
%?Diana?M.?Cordova?diana_mce@hotmail.com
%?
%?Citation:
%?Terven?Juan.?Cordova-Esparza?Diana?“Kin2.?A?Kinect?2?Toolbox?for?MATLAB“?Science?of
%?Computer?Programming?2016.?DOI:?http://dx.doi.org/10.1016/j.scico.2016.05.009
%
%?https://github.com/jrterven/Kin2?2016.

addpath（‘Mex‘）;
clear?all
close?all

%?Create?Kinect?2?object?and?initialize?it
%?Available?sources:?‘color‘?‘depth‘?‘infrared‘?‘body_index‘?‘body‘
%?‘face‘?and?‘HDface‘
k2?=?Kin2（‘color‘‘depth‘‘body‘）;

%?images?sizes
d_width?=?512;?d_height?=?424;?outOfRange?=?4000;
c_width?=?1920;?c_height?=?1080;

%?Color?image?is?to?big?let‘s?scale?it?down
COL_SCALE?=?1.0;

%?Create?matrices?for?the?images
depth?=?zeros（d_heightd_width‘uint16‘）;
color?=?zeros（c_height*COL_SCALEc_width*COL_SCALE3‘uint8‘）;

%?depth?stream?figure
d.h?=?figure;
d.ax?=?axes;
d.im?=?imshow（zeros（d_heightd_width‘uint8‘））;
%hold?on;

title（‘Depth?Source?（press?q?to?exit）‘）
set（gcf‘keypress‘‘k=get（gcf‘‘currentchar‘‘）;‘）;?%?listen?keypress

%?color?stream?figure
c.h?=?figure;
c.ax?=?axes;
c.im?=?imshow（color[]）;
title（‘Color?Source?（press?q?to?exit）‘）;
set（gcf‘keypress‘‘k=get（gcf‘‘currentchar‘‘）;‘）;?%?listen?keypress
%hold?on

%?Loop?until?pressing?‘q‘?on?any?figure
k=[];

disp（‘Press?q?on?any?figure?to?exit‘）
while?true
????%?Get?frames?from?Kinect?and?save?them?on?underlying?buffer
????validData?=?k2.updateData;
????
????%?Before?processing?the?data?we?need?to?make?sure?that?a?valid
????%?frame?was?acquired.
????if?validData
????????%?Copy?data?to?Matlab?matrices
????????depth?=?k2.getDepth;
????????color?=?k2.getColor;

????????%?update?depth?figure
????????depth8u?=?uint8（depth*（255/outOfRange））;
????????depth8uc3?=?repmat（depth8u[1?1?3]）;
????????d.im?=?imshow（depth8uc3?‘Parent‘?d.ax）;

????????%set（d.im‘CData‘depth8uc3）;?

????????%?update?color?figure
????????color?=?imresize（colorCOL_SCALE）;
????????c.im?=?imshow（color?‘Parent‘?c.ax）;

????????%set（c.im‘CData‘color）;?

????????%?Get?3D?bodies?joints?
????????%?Input?parameter?can?be?‘Quat‘?or?‘Euler‘?for?the?joints
????????%?orientations.
????????%?getBodies?returns?a?structure?array.
????????%?The?structure?array?（bodies）?contains?6?bodies?at?most
????????%?Each?body?has:
????????%?-Position:?3x25?matrix?containing?the?xyz?of?the?25?joints?in
????????%???camera?space?coordinates
????????%?-?Orientation:?
????????%???If?input?parameter?is?‘Quat‘:?4x25?matrix?containing?the?
????????%???orientation?of?each?joint?in?[x;?y;?z?w]
????????%???If?input?parameter?is?‘Euler‘:?3x25?matrix?containing?the?
????????%???orientation?of?each?joint?in?[Pitch;?Yaw;?Roll]?
????????%?-TrackingState:?state?of?each?joint.?These?can?be:
????????%???NotTracked=0?Inferred=1?or?Tracked=2
????????%?-LeftHandState:?state?of?the?left?hand
????????%?-RightHandState:?state?of?the?right?hand
????????[bodies?fcp?timeStamp]?=?k2.

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2017-07-05?18:26??jrterven-Kin2-afeec4f\
?????文件?????????378??2017-07-05?18:26??jrterven-Kin2-afeec4f\.gitattributes
?????文件?????????652??2017-07-05?18:26??jrterven-Kin2-afeec4f\.gitignore
?????文件????????2577??2017-07-05?18:26??jrterven-Kin2-afeec4f\DemoAll.m
?????目錄???????????0??2017-07-05?18:26??jrterven-Kin2-afeec4f\Mex\
?????文件???????13003??2017-07-05?18:26??jrterven-Kin2-afeec4f\Mex\Kin2.h
?????文件???????56159??2017-07-05?18:26??jrterven-Kin2-afeec4f\Mex\Kin2.m
?????文件???????11968??2017-07-05?18:26??jrterven-Kin2-afeec4f\Mex\Kin2Collector.m
?????文件???????21792??2017-07-05?18:26??jrterven-Kin2-afeec4f\Mex\Kin2_base.cpp
?????文件???????12743??2017-07-05?18:26??jrterven-Kin2-afeec4f\Mex\Kin2_face.cpp
?????文件???????21378??2017-07-05?18:26??jrterven-Kin2-afeec4f\Mex\Kin2_fusion.cpp
?????文件???????14846??2017-07-05?18:26??jrterven-Kin2-afeec4f\Mex\Kin2_mapping.cpp
?????文件???????37234??2017-07-05?18:26??jrterven-Kin2-afeec4f\Mex\Kin2_mex.cpp
?????文件????????2332??2017-07-05?18:26??jrterven-Kin2-afeec4f\Mex\calibCostFun.m
?????文件????????1877??2017-07-05?18:26??jrterven-Kin2-afeec4f\Mex\class_handle.hpp
?????文件????????2200??2017-07-05?18:26??jrterven-Kin2-afeec4f\README.txt
?????目錄???????????0??2017-07-05?18:26??jrterven-Kin2-afeec4f\UserGuide\
?????文件??????217941??2017-07-05?18:26??jrterven-Kin2-afeec4f\UserGuide\kin2-user-guide.pdf
?????文件????????4623??2017-07-05?18:26??jrterven-Kin2-afeec4f\bodyDemo.m
?????文件????????2503??2017-07-05?18:26??jrterven-Kin2-afeec4f\bodyIndexDemo.m
?????文件????????4236??2017-07-05?18:26??jrterven-Kin2-afeec4f\calibrationDemo.m
?????文件????????1627??2017-07-05?18:26??jrterven-Kin2-afeec4f\compile_cpp_files.m
?????文件????????3055??2017-07-05?18:26??jrterven-Kin2-afeec4f\faceDemo.m
?????文件????????3951??2017-07-05?18:26??jrterven-Kin2-afeec4f\faceHDDemo.m
?????文件????????3221??2017-07-05?18:26??jrterven-Kin2-afeec4f\faceHDDemo2.m
?????文件?????1167604??2017-07-05?18:26??jrterven-Kin2-afeec4f\image.png
?????文件????????2970??2017-07-05?18:26??jrterven-Kin2-afeec4f\kinectFusionDemo.m
?????文件????????5314??2017-07-05?18:26??jrterven-Kin2-afeec4f\mapping2CamDemo.m
?????文件????????4965??2017-07-05?18:26??jrterven-Kin2-afeec4f\mappingDemo.m
?????文件????????2322??2017-07-05?18:26??jrterven-Kin2-afeec4f\pointCloudDemo.m
?????文件????????2757??2017-07-05?18:26??jrterven-Kin2-afeec4f\pointCloudDemo2.m
............此處省略2個文件信息